Multimode wheeled mobile robot with height control on uneven surfaces

علوم کاربردی و محاسباتی در مکانیک

Article 12, Volume 27, Issue 1 - Serial Number 13, March 2016, Pages 173-184   

Document Type: مقاله کوتاه

DOI: 10.22067/fum-mech.v27i1.34471

Authors

mahdi bamdad^{* 1}; Arman Mardani²

¹Shahrood

²-

Abstract

In this paper, the motion capability of wheeled mobile robot is increased by providing a new structure. Due to the special design, converting a two-wheeled robot to a four-wheeled robot is possible in the proposed multi-mode robot. This design has the ability to simultaneously and interchangeably provide locomotion and manipulation capability in motion on uneven terrain. Unlike most other mobile robot designs that have a separate manipulator arm module attached on top of the mobile platform, the central axis in this design can manipulate like a robotic arm. The robot midpoint as an end-effector is a passive joint. The part which could carry the guidance and visual equipments follows the height control, easily and without a new actuator. The basic requirement of stability and acceptable performance could be guaranteed through this simple, novel design. Finally, the simulation is used to study the robot’s enhanced mobility characteristics through animations of different trajectories for end-effector on uneven terrain.

Keywords

Mobile Robot; Multimode; Locomotion; Height control

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